Imitation Test-Beds
We are pursuing a research program focused on developing a model of
skill learning by imitation. The details of our research program are
found
here. The following are the test-beds we use for implementing and
evaluating our imitation models.

Adonis is a dynamic humanoid simulation consisting of eight rigid
links connected with revolute joints of 1 and 3 DOF, totaling 20 DOF.
The torso, which we use in most experiments, consists of 13 DOF. For
details on Adonis and its control look
here.

Laika is a Sony
AIBO robot dog with a total of 18 DOF: 2 in the neck and 4 in each
leg. Laika has passively compliant paws. Its sensors include a color
CCD camera, stereo microphones, joint encoders in the legs, touch
sensors on the paws, and a head "petting" sensor.

Two COSIMIR humanoid avatars. Each avatar has 65 DOF, consisting of:
3 DOF at the neck, each shoulder, each wrist, hip, and each ankle, and
1 DOF at each elbow, finger, and knee joint. The thumbs have 2
joints, the rest of the fingers have 3.